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公开(公告)号：US12062159B1
公开(公告)日：2024-08-13
申请号：US18401054
申请日：2023-12-29
Applicant: Tartan Aerial Sense Tech Private Limited
Inventor： Dhivakar Kanagaraj , Pranav M P , Raghul Raghu , Prakash Mathews Pothen
IPC: G06T5/70 , G06T5/40 , G06T5/60 , G06T7/11 , G06T7/136 , G06T7/155 , G06T7/194 , G06T7/90 , G06V20/10 , H04N23/84
CPC classification number: G06T5/70 , G06T5/40 , G06T5/60 , G06T7/11 , G06T7/136 , G06T7/155 , G06T7/194 , G06T7/90 , G06V20/188 , G06T2207/10024 , G06T2207/20032 , G06T2207/20036 , G06T2207/20081 , G06T2207/20084 , G06T2207/30188 , H04N23/84
Abstract: A camera apparatus includes control circuitry configured to acquire an input color image of an agricultural field, smoothen the input color image with a median blur and convert the smoothened input color image into a plurality of different color spaces. The control circuitry is configured to execute a set of channel operations on an individual channel or combined channels in each color space of the plurality of different color spaces and generate a normalized image based on outputs received from each color space processing path. The control circuitry is configured to determine a threshold value based on a histogram of the normalized image and apply the determined threshold value to generate a first binary mask image. The control circuitry is configured to apply one or more morphology operations to remove noise in the first binary mask image and generate an output binary mask image of foliage mask.
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2.发明授权公开(公告)号：US12080064B1
公开(公告)日：2024-09-03
申请号：US18586401
申请日：2024-02-23
Applicant: Tartan Aerial Sense Tech Private Limited
Inventor： Gunasekaran Srinivasan , Dhivakar Kanagaraj , Pranav M P , Raghul Raghu , Prakash Mathews Pothen , S Prajwal
CPC classification number: G06V20/188 , G06T3/4015 , G06V10/25 , G06V10/82 , H04N9/73 , H05K1/181 , G06V2201/07 , H05K2201/10121 , H05K2201/10151 , H05K2201/10159
Abstract: A camera apparatus including a central processing unit configured to capture raw image sensor data of a field-of-view of an agricultural field, concurrently execute a plurality of different image transformation operations in a single pass on the captured raw image sensor data to obtain a processed image output, based on an one-time read of pixel values of the captured raw image sensor data and push the processed image output in a shared memory accessible to a plurality of application nodes in the camera apparatus. The camera apparatus includes a graphical processing unit configured to execute a first neural network model on the processed image output to detect one or more foliage regions in the processed image output and concomitantly execute a second neural network model on the processed image output to detect one or more crop plants in the processed image output.
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3.发明授权公开(公告)号：US12088773B1
公开(公告)日：2024-09-10
申请号：US18444378
申请日：2024-02-16
Applicant: Tartan Aerial Sense Tech Private Limited
Inventor： Dhivakar Kanagaraj , Pranav M P , Raghul Raghu , Parth Gupta , Ananya Mahapatra
CPC classification number: H04N1/6002 , G06T11/60 , G06V10/25 , G06V10/56 , G06V20/188
Abstract: A camera apparatus includes control circuitry configured to acquire an input color image of an agricultural field, detect one or more foliage regions, and generate output binary mask images of foliage mask indicating one or more foliage regions and a soil region. The control circuitry is configured to convert the input color image to a Hue, Saturation, Lightness (HSV) color space to obtain an HSV image. Thereafter, the control circuitry is configured to selectively adjust a hue component and convert back to the RGB color space to obtain a soil region-adjusted RGB image. Furthermore, generate an augmented color image by combining pixels of the soil region, with pixels of the one or more foliage regions and utilize the generated augmented color image in training of a crop detection (CD) neural network model to learn a plurality of different types of soil and a range of color variation of soil.
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4.发明授权公开(公告)号：US12080051B1
公开(公告)日：2024-09-03
申请号：US18582148
申请日：2024-02-20
Applicant: Tartan Aerial Sense Tech Private Limited
Inventor： Dhivakar Kanagaraj , Pranav M P , Raghul Raghu , Parth Gupta , Vijay Sundaram
IPC: G06V10/774 , G06V10/26 , G06V10/30 , G06V10/764 , G06V10/776 , G06V10/82 , G06V20/10
CPC classification number: G06V10/774 , G06V10/26 , G06V10/30 , G06V10/764 , G06V10/776 , G06V10/82 , G06V20/188
Abstract: A camera apparatus includes one or more processors configured to determine a plurality of crop image data variation classifications representative of real-world variations in physical appearance of a crop plant as well as a surrounding area around the crop plant. Furthermore, select a first set of input color images from first training dataset comprising a plurality of different field-of-views (FOVs). Thereafter, execute plurality of different image level augmentation operations to obtain an augmented set of color images, identify and filter noisy images from a second training dataset based on a predefined set of image parameters. After that, train neural network model in a first stage on a third training dataset, re-determine new crop image data variation classifications and re-select new color images representative of the new crop image data variation classifications to further train the neural network model in a second stage to detect one or more crop plants.
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5.发明公开公开(公告)号：US20240206454A1
公开(公告)日：2024-06-27
申请号：US18395037
申请日：2023-12-22
Applicant: Tartan Aerial Sense Tech Private Limited
Inventor： Dhivakar Kanagaraj , Raghul Raghu , Pranav MP
CPC classification number: A01M7/0089 , G06V20/188
Abstract: A system mounted in a vehicle includes a boom arrangement, which includes a predefined number of electronically controllable sprayer nozzles and a plurality of image-capture devices. One or more hardware processors of the system are configured to distinguish crop plants from weeds using trained AI model when the vehicle is motion based on sequence of images obtained from the plurality of image-capture devices. The distinguishing of the crop plants from weeds includes detecting a first set of crop plants with drooping leaves, detecting a second set of crop plants manifesting an elastic change in physical characteristics of the second set of crop plants; and detecting a third set of remaining crop plants. Such holistic detection ensures that no crop plant goes undetected and cause a specific set of electronically controllable sprayer nozzles to operate accordingly.
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Patent Agency Ranking
6.发明申请公开(公告)号：US20250133177A1
公开(公告)日：2025-04-24
申请号：US18791123
申请日：2024-07-31
Applicant: Tartan Aerial Sense Tech Private Limited
Inventor： Dhivakar Kanagaraj , Pranav M P , Raghul Raghu , Parth Gupta , Ananya Mahapatra
Abstract: A training server acquires an input color image of an agricultural field, detects one or more foliage regions in the input color image, and generates output binary mask images of foliage mask indicating one or more foliage regions and a soil region. The training server further generates an augmented color image by combining pixels of the soil region adjusted for soil hue, with pixels of the one or more foliage regions unaltered from the acquired input color image in the RGB color space. The training server then utilizes the generated augmented color image in training of a crop detection (CD) neural network model.
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7.发明申请公开(公告)号：US20250131715A1
公开(公告)日：2025-04-24
申请号：US18791324
申请日：2024-07-31
Applicant: Tartan Aerial Sense Tech Private Limited
Inventor： Gunasekaran Srinivasan , Dhivakar Kanagaraj , Pranav M P , Raghul Raghu , Prakash Mathews Pothen , S Prajwal
Abstract: A camera apparatus including a central processing unit configured to capture raw image sensor data of a field-of-view of an agricultural field, concurrently execute a plurality of different image transformation operations in a single pass on the captured raw image sensor data to obtain a processed image output, based on an one-time read of pixel values of the captured raw image sensor data and push the processed image output in a shared memory accessible to a plurality of application nodes in the camera apparatus. The camera apparatus includes a graphical processing unit configured to cause the plurality of application nodes to concurrently access the processed image output from the shared memory to detect one or more foliage regions or one or more crop plants in the processed image output.
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8.发明申请公开(公告)号：US20250131714A1
公开(公告)日：2025-04-24
申请号：US18741694
申请日：2024-06-12
Applicant: Tartan Aerial Sense Tech Private Limited
Inventor： Dhivakar Kanagaraj , Pranav M P , Raghul Raghu , Prakash Mathews Pothen
IPC: G06V20/10 , G06T5/40 , G06T5/70 , G06T7/11 , G06T7/136 , G06V10/26 , G06V10/77 , G06V10/774 , G06V10/82
Abstract: A system includes a training server that in a training phase causes a custom neural network model for foliage detection to learn features related to foliage from a modified training dataset and further learn a color variation range of a predefined color associated with the features. A combination of the features related to foliage and the color variation range of the predefined color is utilized to obtain a trained custom neural network model that is deployed in a camera apparatus. The camera apparatus in the operational phase captures a new color image of an agricultural field, operates the trained custom neural network model to detect one or more foliage regions in the new color image in a real time or near real time, and operates at least one of a plurality of agricultural implements, based on the detected one or more foliage regions in the new color image.
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9.发明申请公开(公告)号：US20250131695A1
公开(公告)日：2025-04-24
申请号：US18787986
申请日：2024-07-29
Applicant: Tartan Aerial Sense Tech Private Limited
Inventor： Dhivakar Kanagaraj , Pranav M P , Raghul Raghu , Parth Gupta , Vijay Sundaram
IPC: G06V10/774 , G06V10/26 , G06V10/30 , G06V10/764 , G06V10/776 , G06V10/82 , G06V20/10
Abstract: A training server includes one or more processors configured to determine a plurality of crop image data variation classifications representative of real-world variations in physical appearance of a crop plant as well as a surrounding area around the crop plant. A first set of input color images is selected from first training dataset and a plurality of different image level augmentation operations are executed to obtain an augmented set of color images. Noisy images are identified and filtered from a second training dataset and a third training dataset comprising noise filtered images from the second training dataset is obtained. The third training dataset is split into a plurality of different classes for data balancing across the plurality of different classes and a neural network model in a first stage is trained on the third training dataset.
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公开(公告)号：US20250131539A1
公开(公告)日：2025-04-24
申请号：US18767934
申请日：2024-07-09
Applicant: Tartan Aerial Sense Tech Private Limited
Inventor： Dhivakar Kanagaraj , Pranav M P , Raghul Raghu , Prakash Mathews Pothen
IPC: G06T5/70 , G06T5/40 , G06T5/60 , G06T7/11 , G06T7/136 , G06T7/155 , G06T7/194 , G06T7/90 , G06V20/10 , H04N23/84
Abstract: A camera apparatus acquires an input color image of an agricultural field and generates a first binary mask image from the input color image. The first binary mask image includes one or more foliage masks indicative of a presence of one or more foliage regions in a field-of-view with a first accuracy level. One or more morphology operations are applied to remove noise in the first binary mask image and one or more image regions that meet a defined criteria to be considered as foliage are identified. An output binary mask image of foliage mask is generated, which is set as a ground truth to train a custom neural network model in a training phase. The trained custom neural network model is operated to detect one or more other foliage regions in a new color image captured by the camera apparatus in a real time or near real time.
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